Self-growing robot based on growing swallowing and target object adsorption and recycling method

Abstract

The application discloses a self-growing robot based on growth swallowing and a target object adsorption and recycling method, and relates to the technical field of flexible robots. The self-growing robot comprises a self-growing robot body and a self-adsorption layer. The self-adsorption layer is connected with an inner layer body and an outer layer body, is nested in the outer layer body, and is turned outside to form the outer layer body and turned inside to form the inner layer body. The self-adsorption layer is configured to have the ability to adsorb target objects and is arranged on the outer surface of the inner layer body and / or the outer layer body. The self-adsorption layer has the self-adsorption ability, thereby realizing the adsorption of the target objects, and the adsorbed target objects are collected into the middle channel by using the self-growing robot recycling function. The self-growing robot fully utilizes the flexible and conveying characteristics of the self-growing robot, improves the effective working range of the self-growing robot, and reduces the requirement of the self-growing robot for precision by using the adsorption mode from the outside.

Description

Technical Field

[0001] This invention relates to the field of flexible robotics, and in particular to a self-growing robot based on growth-type swallowing and a method for adsorbing and recovering target objects. Background Technology

[0002] Self-growing robots are a new type of flexible robot. To achieve the goal of acquiring targets in confined spaces, some solutions incorporate a rigid gripper at the end of the self-growing robot to complete the task. However, rigid grippers have poor compliance, occupy a large space, and limit their flexibility in confined spaces. Current self-growing robots suffer from limited working range and insufficient flexibility in confined spaces. Summary of the Invention

[0003] The purpose of this invention is to provide a self-growing robot based on growth-type swallowing and a method for adsorbing and recovering target objects, so as to solve the problems existing in the prior art, expand the working range, and have high flexibility.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides a self-growing robot based on growth-type swallowing, comprising:

[0006] A self-growing robot body includes an inner body and an outer body connected to each other. The inner body is nested within the outer body. The inner body folds outward to form the outer body, and the outer body folds inward to form the inner body.

[0007] Self-adsorption layer; the self-adsorption layer is configured to adsorb target substances, and the self-adsorption layer is disposed on the outer surface of the inner body and / or the outer body.

[0008] Preferably, the self-adsorption layer includes an electrostatic adsorption layer and a bristle layer; the electrostatic adsorption layer is attached to the outer surface of the inner body and / or the outer body, and the bristle layer is attached to the surface of the electrostatic adsorption layer.

[0009] Preferably, the self-adsorption layer includes an electrostatic adsorption layer or a bristle layer.

[0010] Preferably, the electrostatic adsorption layer includes an insulating layer and interdigitated electrodes, the insulating layer being attached to the outer surface of the inner body and / or the outer body, and the interdigitated electrodes being disposed on the inner surface of the insulating layer.

[0011] Preferably, it further includes a bending adjustment component configured to drive the self-growing robot body to bend.

[0012] Preferably, the bending adjustment component is a pneumatic artificial muscle attached to the outer body.

[0013] Preferably, the bristles are made of silicone.

[0014] Preferably, the insulating layer is a polyimide film.

[0015] This invention also provides a method for adsorbing and recovering target materials along the growth path of a self-growing robot, comprising:

[0016] Adsorption: The self-growing robot grows by providing pre-pressure contact with the target object, which, combined with the self-adsorption capacity of the self-adsorption layer, enables the adsorption of the target object.

[0017] Recovery: The self-growing robot recovers the target object located on the self-adsorption layer outside the outer body, which is turned inside out and enters the channel in the middle of the self-growing robot.

[0018] This invention also provides a method for adsorbing and recovering target objects laterally along the growth path of a self-growing robot, comprising:

[0019] Adsorption: The self-growing robot grows and, in conjunction with pneumatic artificial muscles, swings towards the area where the target object is located. During the swinging process, the self-growing robot provides pre-pressure to the target object, and, in conjunction with the self-adsorption capacity of the self-adsorption layer, achieves adsorption of the target object in the lateral direction.

[0020] Recovery: The self-growing robot recovers the target object located on the self-adsorption layer outside the outer body, which is turned inside out and enters the channel in the middle of the self-growing robot.

[0021] The present invention achieves the following technical effects compared to the prior art:

[0022] This invention provides a self-adsorption layer on the inner body and / or the outer surface of the outer body. The self-adsorption layer has self-adsorption capability, thereby achieving the adsorption of the target object. The adsorbed target object is collected into the middle channel by the self-growing robot recovery function. This invention makes full use of the compliance and transport characteristics of the self-growing robot, improves the effective working range of the self-growing robot, and at the same time, this adsorption method from the outside also reduces the precision requirements of the self-growing robot. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1A partial structural schematic diagram of a self-growing robot based on growth-type swallowing provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the self-adsorption layer provided in an embodiment of the present invention;

[0026] Figure 3 for Figure 2 Schematic diagram of the structure of the interdigital electrode;

[0027] Figure 4 This is a schematic diagram of the structure for adsorbing and recovering target materials along the growth path of a self-growing robot.

[0028] Figure 5 This is a schematic diagram of the structure for adsorbing and recovering lateral target objects along the growth path of a self-growing robot.

[0029] Figure 6 This is a flowchart illustrating the adsorption and recovery process of target materials along the growth path of a self-growing robot.

[0030] Figure 7 for Figure 6 Workflow diagram;

[0031] Figure 8 This is a flowchart illustrating the adsorption and recovery process of target objects along the growth path of a self-growing robot.

[0032] Figure 9 for Figure 8 Workflow diagram;

[0033] In the diagram: 1-Self-adsorption layer; 11-Seticular layer; 12-Electrostatic adsorption layer; 121-Insulating layer; 122-Interdigital electrode; 2-Self-growing robot body; 21-Inner body; 22-Outer body; 3-End-effector recovery mechanism; 4-Pneumatic artificial muscle. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] First, the technical terms involved in the embodiments of this invention will be introduced.

[0037] Growth-type swallowing is a new working mode proposed in this invention. This mode is based on the traditional "swallowing" working mode (swallowing is a biomimetic behavior, which is different from the flexible robot hand in related technologies that grasps objects by enveloping). It is a process in which the self-growing robot attaches or adsorbs objects to its outside and transports the target object from the outside of the self-growing robot to the middle channel of the self-growing robot by changing the length of the self-growing robot.

[0038] In related technologies, there exists a self-growing robot that grows by outward turning of the material and contracts by inward turning. Some researchers, mimicking the swallowing method of organisms such as snakes or leeches, use the end of the self-growing robot directly as a flexible gripper. These approaches make the structure of the self-growing robot relatively compact, allowing it to operate in confined spaces. However, its grasping range is limited, only able to grasp targets near the end, thus restricting its ability to work in confined spaces. In view of this, this application provides a self-growing robot based on growth-based swallowing.

[0039] This invention provides a self-growing robot based on growth-based swallowing, such as... Figure 1 As shown, it includes: a self-growing robot body 2 and a self-adhesion layer 1.

[0040] The self-growing robot body 2 includes an inner body 21 and an outer body 22 connected to each other. The inner body 21 is nested inside the outer body 22. The inner body 21 is turned outward to form the outer body 22, and the outer body 22 is turned inward to form the inner body 21. Specifically, both the inner body 21 and the outer body 22 are cylindrical structures, one large and one small. Their ends are connected to form the main body structure, and most of the cross-section of the main body structure is annular.

[0041] The self-adsorption layer 1 is configured to have the ability to adsorb target objects. The self-adsorption layer 1 is disposed on the outer surface of the inner body 21 and / or the outer body 22. The self-adsorption layer 1 can automatically adsorb, adhere to or pick up nearby target objects.

[0042] The present invention provides a self-adsorption layer 1 on the outer surface of the inner body 21 and / or the outer body 22. The self-adsorption layer 1 has self-adsorption capability, thereby realizing the adsorption of the target object. The adsorbed target object is collected into the middle channel by the self-growing robot retrieval function. The present invention makes full use of the compliance and transmission characteristics of the self-growing robot, improves the effective working range of the self-growing robot, and at the same time, this adsorption method from the outside also reduces the precision requirements of the self-growing robot.

[0043] In some embodiments, such as Figure 2As shown, the self-adsorption layer 1 includes an electrostatic adsorption layer 12 and a bristle layer 11; the electrostatic adsorption layer 12 is attached to the outer surface of the inner body 21 and / or the outer body 22, and the bristle layer 11 is attached to the surface of the electrostatic adsorption layer 12.

[0044] This embodiment uses a hybrid adhesion method combining electrostatic adsorption and bristle adhesion to enhance the adsorption force on the target object. Specifically, the bristles effectively increase the friction and effective contact area between the self-adsorption layer 1 and the target object.

[0045] In some embodiments, the self-adsorption layer 1 includes an electrostatic adsorption layer 12 or a bristle layer 11.

[0046] In this embodiment, electrostatic adsorption layer 12 can be used for electrostatic adsorption, or bristle layer 11 can be used for adhesion. The specific type of adsorption layer to be used needs to be determined according to the working environment and the type of target object to be adsorbed.

[0047] The bristles are preferably made of silicone. The silicone is cast onto the outer surface of the insulating layer 121, and the bristles are micro-wedge shaped with the other side attached to the outer surface of the insulating layer 121.

[0048] The insulating layer 121 is preferably made of polyimide film, also known as PI film.

[0049] In some embodiments, the insulating layer 121 is fixed to the inner body 21 and the outer body 22 by double-sided adhesive.

[0050] In some embodiments, the self-adhesion layer 1 is a sleeve-shaped structure, fitted inside the inner body 21 and / or outside the outer body 22. Of course, there are various ways to set the self-adhesion layer 1. For example, it can be set as a long strip structure that extends along the length of the inner body 21 and / or the outer body 22. It can also be set as multiple coaxial annular bodies with intervals between each annular body to maximize the flexibility of the self-growing robot.

[0051] In some embodiments, such as Figure 2 and Figure 3 As shown, the electrostatic adsorption layer 12 includes an insulating layer 121 and interdigitated electrodes 122. The insulating layer 121 is attached to the outer surface of the inner body 21 and / or the outer body 22, and the interdigitated electrodes 122 are disposed on the inner surface of the insulating layer 121.

[0052] This embodiment uses interdigitated electrodes 122 to apply a high voltage to the insulating layer 121. The high voltage polarizes the dielectric around the electrodes, giving them the ability to adsorb. The interdigitated electrodes 122 can preserve the flexibility of the insulating layer 121, thus allowing the self-growing robot to still have high flexibility.

[0053] like Figure 4As shown, the above embodiments facilitate the adsorption and recovery of target objects on or near the growth path of the self-growing robot. However, since the self-growing robot lacks bending and adjustment capabilities, it cannot adsorb target objects far from the growth path. Therefore, this application provides the following preferred embodiments:

[0054] In some embodiments, such as Figure 5 As shown, the embodiment of the present invention also includes a bending adjustment component, which is configured to drive the self-growing robot body 2 to bend.

[0055] This embodiment facilitates the capture of target objects that are spaced apart from the growth path of the self-growing robot body 2. Specifically, the bending adjustment component is a pneumatic artificial muscle 4 attached to the outer body 22.

[0056] In use, the self-growing robot grows and, in conjunction with the pneumatic artificial muscle 4, swings towards the area where the target object is located. During the swinging process, the self-growing robot provides pre-pressure to the target object, and, in conjunction with the self-adsorption capacity of the self-adsorption layer 1, achieves the adsorption of the target object in the lateral direction.

[0057] The present invention is an improvement on the self-growing robot in the prior art. Specifically, the present invention improves the self-growing robot body 2, such as its basic structure, outward growth and inward retrieval. Therefore, the self-growing robot body 2 in the present invention can adopt any self-growing robot in the prior art.

[0058] This invention also provides a method for adsorbing and recovering target materials along the growth path of a self-growing robot, such as... Figures 6-7 As shown, it includes:

[0059] Adsorption: Self-growing robot growth provides pre-pressure contact with the target object, which, combined with the self-adsorption capacity of the self-adsorption layer 1, enables the adsorption of the target object.

[0060] Recovery: The target object located on the self-adsorption layer 1 outside the outer body 22 is flipped inward and enters the channel in the middle of the self-growing robot.

[0061] When the self-adsorption layer 1 has an electrostatic adsorption layer 12, it also has an energizing step: the interdigital electrode 122 is energized, and a voltage of 4 to 6 kV is applied to both ends of the interdigital electrode 122 to prepare for the adsorption of the target substance.

[0062] After the self-growing robot is recovered, the interdigital electrode 122 discharge step is still required.

[0063] This invention also provides a method for adsorbing and recovering target objects laterally along the growth path of a self-growing robot, such as... Figures 8-9 As shown, it includes:

[0064] Adsorption: The self-growing robot grows and, in conjunction with the pneumatic artificial muscle 4, swings towards the area where the target object is located. During the swinging process, the self-growing robot provides pre-pressure to the target object. Combined with the self-adsorption capacity of the self-adsorption layer 1, the adsorption of the target object in the lateral direction is achieved.

[0065] Recovery: The target object located on the self-adsorption layer 1 outside the outer body 22 is flipped inward and enters the channel in the middle of the self-growing robot.

[0066] When the self-adsorption layer 1 has an electrostatic adsorption layer 12, it also has an energizing step: the interdigital electrode 122 is energized, and a voltage of 4 to 6 kV is applied to both ends of the interdigital electrode 122 to prepare for the adsorption of the target substance.

[0067] After the self-growing robot is recovered, the interdigital electrode 122 discharge step is still required.

[0068] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A self-growing robot based on growing peristalsis, characterized by: The self-growing robot comprises: a self-growing robot body comprising an inner layer body and an outer layer body connected to each other, the inner layer body being nested in the outer layer body, the outer layer body being turned inside out to form the inner layer body, and the inner layer body being turned inside out to form the outer layer body; and a self-adsorbing layer configured to have the ability to adsorb target objects, the self-adsorbing layer being arranged on the outer surface of the inner layer body and / or the outer layer body, the self-adsorbing layer comprising an electrostatic adsorbing layer and a bristle layer, the electrostatic adsorbing layer being attached to the outer surface of the inner layer body and / or the outer layer body, and the bristle layer being attached to the surface of the electrostatic adsorbing layer, the self-growing robot growing, the self-growing robot providing a pre-pressure contact with the target objects, cooperating with the self-adsorbing ability of the self-adsorbing layer, and realizing adsorption of the target objects, and the self-growing robot recycling, the target objects on the self-adsorbing layer outside the outer layer body turning inside out into the channel in the middle of the self-growing robot.

2. The self-growing robot based on growth-based swallowing according to claim 1, characterized in that: The electrostatic adsorbing layer comprises an insulating layer and an interdigital electrode, the insulating layer being attached to the outer surface of the inner layer body and / or the outer layer body, and the interdigital electrode being arranged on the inner surface of the insulating layer.

3. The self-growing robot based on growth-based swallowing according to claim 1, wherein: The self-growing robot further comprises a bending adjustment assembly configured to drive the self-growing robot body to bend.

4. The self-growing robot based on growth peristalsis according to claim 3, characterized in that: The bending adjustment assembly is a pneumatic artificial muscle attached to the outer surface of the outer layer body.

5. The self-growing robot based on growth peristalsis according to claim 2, characterized in that: The material of the bristle is silica gel.

6. The growth-based, swallow-based self-growing robot of claim 2, wherein: The insulating layer is a polyimide film.

7. A method for adsorbing and recovering target objects laterally along the growth path of a self-growing robot, characterized in that: The self-growing robot is the self-growing robot based on growth swallowing according to claim 4, comprising: adsorption: the self-growing robot grows, cooperates with the pneumatic artificial muscle, swings towards the area where the target objects are located, and provides a pre-pressure to the target objects during the swinging process, cooperates with the self-adsorbing ability of the self-adsorbing layer, and realizes adsorption of the target objects in the lateral direction; recycling: the self-growing robot recycles, and the target objects on the self-adsorbing layer outside the outer layer body turn inside out into the channel in the middle of the self-growing robot.

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